{"id":"W2007980846","doi":"10.1016/s0094-114x(01)00021-0","title":"Position and force control of flexible joint robots during constrained motion tasks","year":2001,"lang":"en","type":"article","venue":"Mechanism and Machine Theory","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":25,"is_retracted":false,"has_abstract":false,"ca_institutions":"Canadian Space Agency","funders":"","keywords":"Control theory (sociology); Controller (irrigation); Robot; Position (finance); Lyapunov stability; Singular perturbation; Lyapunov function; Computer science; Joint (building); Control engineering; Engineering; Mathematics; Control (management); Artificial intelligence; Physics; Nonlinear system; Structural engineering","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002271347,0.00009685447,0.0001376352,0.00008379416,0.00006858762,0.00001469344,0.0000220593,0.00004634159,0.000117884],"category_scores_gemma":[0.00001111621,0.00009439796,0.0000222928,0.00004418224,0.00002141369,0.0000914281,0.00001243738,0.00008648048,0.000002264053],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00000959285,"about_ca_system_score_gemma":0.000001898297,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000007680131,"about_ca_topic_score_gemma":0.000001076764,"domain_scores_codex":[0.9995322,0.00004479129,0.0001440745,0.0001047217,0.00005853215,0.0001156875],"domain_scores_gemma":[0.9998043,0.00002315173,0.00003372121,0.00007747036,0.00001356942,0.00004783639],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"theoretical_or_conceptual","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0001077977,0.00002092776,0.0001942109,0.0001555196,0.00006070069,0.0000129231,0.0008386611,0.09007874,0.3833576,0.5112324,0.000002823174,0.01393766],"study_design_scores_gemma":[0.0042286,0.0001626353,0.01672737,0.00013219,0.0001097882,0.0003501305,0.0005125272,0.7849584,0.05819747,0.1341516,0.00001351857,0.000455806],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.2803501,0.0003271804,0.7173463,0.00002775834,0.00007068882,0.0001094587,0.000001912855,0.0001222021,0.001644408],"genre_scores_gemma":[0.999196,0.00006181665,0.0003583013,0.00003175865,0.00002829105,0.000005181196,0.000009980031,0.00001631485,0.0002923732],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.7188458,"threshold_uncertainty_score":0.3849437,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.00969961739522214,"score_gpt":0.1975596332167188,"score_spread":0.1878600158214966,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}